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Technosoft 2007
50
IBL2403 Technical Reference
Module Control Services
– through these unconfirmed services, the NMT master
controls the state of the drive. The following services are implemented: Start Remote
Node, Stop Remote Node, Enter Pre-Operational, Reset Node, Reset Communication
Error Control Services
– through these services the NMT master detects failures in a
CAN-based network. Both error control services defined by DS301 v4.02 are supported
by the IBL2403: Node Guarding (including Life Guarding) and Heartbeat
Bootup Service
- through this service, the drive indicates that it has been properly
initialized and is ready to receive commands from a master
5.1.2. TechnoCAN Extension (for IBL2403 CAN execution)
In order to take full advantage of the powerful Technosoft Motion Language (TML) built into the
IBL2403, Technosoft has developed an extension to CANopen, called TechnoCAN through which
TML commands can be exchanged with the drives. Thanks to TechnoCAN you can inspect or
reprogram any of the Technosoft drives from a CANopen network using EastSetUp or
EasyMotion Studio and an RS-232 link between your PC and anyone of the drives.
TechnoCAN uses only identifiers outside of the range used by the default by the CANopen
predefined connection set (as defined by CiA DS301 v4.02). Thus, TechnoCAN protocol and
CANopen protocol can co-exist and communicate simultaneously on the same physical CAN bus,
without disturbing each other.
5.1.3. DSP-402 and Manufacturer Specific Device Profile Overview
The IBL2403 supports the following CiA DSP402 v2.0 modes of operation:
Profile position mode
Profile velocity mode
Homing mode
Interpolated position mode
Additional to these modes, there are also several manufacturer specific modes defined:
External reference modes (position, speed or torque)
Electronic gearing position mode
5.1.4. Checking Setup Data Consistency
During the configuration phase, a CANopen master can quickly verify using the checksum objects
and a reference
.sw
file (see 4.5 and 5.2.4 for details) whether the non-volatile EEPROM memory
of an IBL2403 drive contains the right information. If the checksum reported by the drive doesn’t
match with that computed from the
.sw
file, the CANopen master can download the entire
.sw
file
into the drive EEPROM using the communication objects for writing data into the drive EEPROM.
5.2. Using the built-in Motion Controller and TML
One of the key advantages of the Technosoft drives is their capability to execute complex motions
without requiring an external motion controller. This is possible because Technosoft drives offer in
a single compact package both a state of art digital drive and a powerful motion controller.
Summary of Contents for IBL2403 Series
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